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q_math: do tracing in id Software/J.M.P. van Waveren's QuatFromMatrix() implementation like Martin John Baker's one did, fix model distortion with GCC 14 #1532

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Jan 29, 2025
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q_math: do tracing in id Software/J.M.P. van Waveren's QuatFromMatrix() implementation like Martin John Baker's one did, fix model distortion with GCC 14 #1532

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e67c237
q_math: do tracing in id Software/J.M.P. van Waveren's QuatFromMatrix…
illwieckz Jan 28, 2025
2220087
q_math: reuse the first trace in QuatFromMatrix()
illwieckz Jan 28, 2025
c0a5a4c
q_math: use Q_rsqrt() in QuatFromMatrix() like id Software/J.M.P. van…
illwieckz Jan 28, 2025
7bc7473
q_math: fix a dead link in comments
illwieckz Jan 28, 2025
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22 changes: 13 additions & 9 deletions src/engine/qcommon/q_math.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1976,7 +1976,7 @@ void MatrixFromQuat( matrix_t m, const quat_t q )
* February 27th 2005
* J.M.P. van Waveren
*
* http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm
* https://web.archive.org/web/20100818052330/http://cache-www.intel.com/cd/00/00/29/37/293748_293748.pdf
*/
float x2, y2, z2 /*, w2*/;
float yy2, xy2;
Expand Down Expand Up @@ -2864,14 +2864,18 @@ void QuatFromMatrix( quat_t q, const matrix_t m )
* February 27th 2005
* J.M.P. van Waveren
*
* http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm
* https://web.archive.org/web/20100818052330/http://cache-www.intel.com/cd/00/00/29/37/293748_293748.pdf
*/
float t, s;

if ( m[ 0 ] + m[ 5 ] + m[ 10 ] > 0.0f )
/* For the +1 that deviates from the original implementation,
see https://github.com/DaemonEngine/Daemon/issues/1527 */

float t = m[ 0 ] + m[ 5 ] + m[ 10 ] + 1.0f;
float s;

if ( t > 0.0f )
{
t = m[ 0 ] + m[ 5 ] + m[ 10 ] + 1.0f;
s = ( 1.0f / sqrtf( t ) ) * 0.5f;
s = Q_rsqrt( t ) * 0.5f;

q[ 3 ] = s * t;
q[ 2 ] = ( m[ 1 ] - m[ 4 ] ) * s;
Expand All @@ -2882,7 +2886,7 @@ void QuatFromMatrix( quat_t q, const matrix_t m )
else if ( m[ 0 ] > m[ 5 ] && m[ 0 ] > m[ 10 ] )
{
t = m[ 0 ] - m[ 5 ] - m[ 10 ] + 1.0f;
s = ( 1.0f / sqrtf( t ) ) * 0.5f;
s = Q_rsqrt( t ) * 0.5f;

q[ 0 ] = s * t;
q[ 1 ] = ( m[ 1 ] + m[ 4 ] ) * s;
Expand All @@ -2893,7 +2897,7 @@ void QuatFromMatrix( quat_t q, const matrix_t m )
else if ( m[ 5 ] > m[ 10 ] )
{
t = -m[ 0 ] + m[ 5 ] - m[ 10 ] + 1.0f;
s = ( 1.0f / sqrtf( t ) ) * 0.5f;
s = Q_rsqrt( t ) * 0.5f;

q[ 1 ] = s * t;
q[ 0 ] = ( m[ 1 ] + m[ 4 ] ) * s;
Expand All @@ -2904,7 +2908,7 @@ void QuatFromMatrix( quat_t q, const matrix_t m )
else
{
t = -m[ 0 ] - m[ 5 ] + m[ 10 ] + 1.0f;
s = ( 1.0f / sqrtf( t ) ) * 0.5f;
s = Q_rsqrt( t ) * 0.5f;

q[ 2 ] = s * t;
q[ 3 ] = ( m[ 1 ] - m[ 4 ] ) * s;
Expand Down
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